class ArmTest(wpilib.IterativeRobot):
def robotInit(self):
pass
def autonomousInit(self):
pass
def autonomousPeriodic(self):
pass
def teleopInit(self):
self.Right = wpilib.CANTalon(1)
self.Left = wpilib.CANTalon(2)
self.CAN = wpilib.CANTalon(0)
self.Arm = Arm(self.CAN)
self.Joystick = wpilib.Joystick(0)
def teleopPeriodic(self):
self.Left.set(-self.Joystick.getY() + self.Joystick.getX())
self.Right.set(self.Joystick.getY() + self.Joystick.getX())
if self.Joystick.getRawButton(1):
self.Arm.update()
if self.Joystick.getRawButton(2):
self.Arm.setTarget(self.Arm.getPosition())
if self.Joystick.getRawButton(5):
self.Arm.movePosition(4000)
if self.Joystick.getRawButton(4):
self.Arm.movePosition(-4000)
def teleopInit(self):
self.Right = wpilib.CANTalon(1)
self.Left = wpilib.CANTalon(2)
self.CAN = wpilib.CANTalon(0)
self.Arm = Arm(self.CAN)
self.Joystick = wpilib.Joystick(0)